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The tiny nematode worm Caenorhabditis elegans has long been a popular model organism for genetic, developmental, and biochemical studies in which worm microinjection plays a critical role. This paper presents an automated robotic system for high-speed injection of C. elegans with an efficiency more than 10 times faster than that of a proficient injection technician. To facilitate the injection process,...
This paper addresses the problem of finding robot configurations to grasp assembly parts during a sequence of collaborative assembly operations. We formulate the search for such configurations as a constraint satisfaction problem (CSP). Collision constraints in an operation and transfer constraints between operations determine the sets of feasible robot configurations. We show that solving the connected...
An unmanned aerial vehicle (UAV) which is integrated with the gripper system is be able to provide diverse service to the society. The objective of this project is to develop a load carrying and releasing system for hexacopter platform. The proposed method is to use the hexacopter with high payload capable of flying while carrying some extra load. A gripper system with the ability to hold and release...
Arm rehabilitation activities require continuous monitoring process in order to provide information on rehabilitation results to be analyzed by therapist. The purpose of monitoring is to help them to improve and customize the rehabilitation process. Moreover, a portable and simple home-based rehabilitation device can help patients to improve daily rehabilitation activity. Some previous studies regarding...
We consider the manipulation planning problem of an extensible elastic rod in collision-free or contact space. We assume the rod can be handled by grippers either at both or at only one of its extremities and during the manipulation, the grasped end may change. We show that the use of both quasi-static and dynamic models can be coupled efficiently with sampling-based methods. By sampling directly...
Self-assembling robots can be transported and deployed inexpensively and autonomously in remote and dangerous environments. In this paper, we introduce a novel self-assembling method with a planar pneumatic system. Inflation of pouches translate into shape changes, turning a sheet of composite material into a complex robotic structure. This new method enables a flat origami-based robotic structure...
Grasping an object in a cluttered, unorganized environment is challenging because of unavoidable contacts and interactions between the robot and multiple immovable (static) and movable (dynamic) obstacles in the environment. Planning an approach trajectory for grasping in such situations can benefit from physics-based simulations that describe the dynamics of the interaction between the robot manipulator...
For biped pole-climbing robots (BiPCRs), footholds, indicating a sequence of discrete gripping points from the start to the goal, are necessary for travelling in trussed environments. Graspable region in each climbing cycle is the valuable priori knowledge for consideration of selecting specific grasping point. However, how to evaluate all the grasps within the graspable region so as to provide a...
In the field of robotics, design and control of robotic limbs is contributing towards the development and study of robots which can closely mimic human motions. In this paper, robust control of a customized robotic Gripper Arm is discussed. Stability analysis in the presence of uncertainties is carried out on a model of the Gripper, with and without the integration of H2 and H∞ compensators. The results...
In this paper, the estimation of the grasping torque of robotic forceps without the use of a force/torque sensor is discussed. To estimate the grasping torque when the robotic forceps driven by a rotary motor with a reduction gear grasps an object, a novel robust reaction torque observer is proposed. The robust reaction torque observer is developed according to the following steps. First, cancellation...
A robot that can fluently hand over objects to people can be useful in many applications. In an effort to develop a fluent robot-to-human handover system, this work investigates people's behavioural responses to a robot that hands over objects to them while using different types of gaze cues. In our previous work, we found empirical evidence that the use of a robot's head gaze can affect a person's...
This paper focuses on improving performance with practice for tasks that are difficult to model or plan, such as pouring (manipulating a liquid or granular material such as sugar). We are also interested in tasks that involve the possible use of many skills, such as pouring by tipping, shaking, and tapping. Although our ultimate goal is to learn and optimize skills automatically from demonstration...
Objects with non-Lambertian reflecting surfaces suffer severe appearance changes according to the change of observer's angle of view. Thus it is difficult to obtain a consistent object model. This paper addresses the problem of bin picking for such objects without using explicit object models. Due to the above-mentioned reasons, traditional pattern matching approaches are difficult to apply. Furthermore,...
In this paper we present a series of design directions for the development of affordable, modular, light-weight, intrinsically-compliant, underactuated robot hands, that can be easily reproduced using off-the-shelf materials. The proposed robot hands, efficiently grasp a series of everyday life objects and are considered to be general purpose, as they can be used for various applications. The efficiency...
In this paper, mechanical design and implementation of a low-cost and lightweight inflatable robot finger are proposed. The proposed soft inflatable robot finger is different from traditional designs. It uses a common and low cost inflatable material and can be easily and massively manufactured. The proposed soft inflatable finger only weighs 0.8 grams, but can well realize swift movement which is...
Robots that can reliably manipulate human tools can do a diverse range of useful tasks in human environments. However, these tools are often difficult to manipulate, particularly given force requirements for applying the tool. This is often due to the mismatch between the robot's gripper and the tool handle designed for human hands. In this paper, we present the design of a low-cost universal tool...
This work presents highly flexible elastomer and silicon micro robotic mechanisms actuated using embedded permanent magnets manipulated by an external magnetic field. The mechanisms are fabricated using a process to incorporate elastomer hinges and other features into silicon MEMS, and a method for embedding small magnets via press-fit into an elastomer sleeve. Fabricated mechanisms have demonstrated...
Recent work [1], [2] has shown promising results in enabling robotic manipulation of deformable objects through learning from demonstrations. Their method computes a registration from training scene to test scene, and then applies an extrapolation of this registration to the training scene gripper motion to obtain the gripper motion for the test scene. The warping cost of scene-to-scene registrations...
The paper presents a solution which integrates the robotized part resupply process in the overall production schedule of a distributed Manufacturing Execution System, which is temporarily altered but not interrupted. The semi-heterarchical control system, based on the PROSA reference architecture, is extended with a new type of holon — Supply — the execution of which is triggered at local storage...
This paper suggests a design of a novel gripper using spatial adaptive fingers. The proposed gripper has spatial structure. Unlike the typical linkage-based under-actuated hands which only operate in a plane, the new gripper can perform motions in a plane and in space. In addition, the gripper can also perform non-prehensile movements, which cannot be realized in previous linkage systems due to the...
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